Great post with good details. I wonder whether a "truck only" roadway might be a reasonable simplifier here (yes building a 1000 miles of road for trucks only is billions of $ but there are perhaps segments between say ports and warehouses where that might make sense. And as someone who has been fooling around with robotics since the 80's the whole "sensors have to see far enough ahead to respond" is well known. The "workaround" is to go slower, and granted 40 mph trucks on the freeway would be annoying it gives you a way to test responses while sensors catch up.